# '''
# FilePath: fast_planner_launch.py
# Author: wyx
# Date: 2023-11-23 18:00:58
# LastEditors: Please set LastEditors
# LastEditTime: 2023-11-23 20:30:01
# Copyright: 2023 xxxTech CO.,LTD. All Rights Reserved.
# Descripttion: 
# '''
# from launch import LaunchDescription
# from launch_ros.actions import Node
# # 封装终端指令相关类
# # from launch.actions import ExecuteProcess
# # from launch.substitutions import FindExecutable
# # 参数声明与获取
# from launch.actions import DeclareLaunchArgument
# from launch.substitutions import LaunchConfiguration
# # 文件包含相关
# # from launch.actions import IncludeLaunchDescription
# # from launch.launch_description_sources import PythonLaunchDescriptionSource
# # 分组相关
# # from launch_ros.actions import PushRosNamespace
# # from launch.actions import GroupAction
# # 事件相关
# # from launch.event_handlers import OnProcessStart, OnProcessExit,OnExecutionComplete,OnProcessIO,OnShutdown
# # from launch.actions import ExecuteProcess, RegisterEventHandler, LogInfo
# # 获取功能包下share目录路径
# from ament_index_python.packages import get_package_share_directory
# import os

# def generate_launch_description():
#     AstarParam_config = os.path.join(
#         get_package_share_directory('plan_manage'),
#         'param',
#         'A_params_config.yaml'
#         )
#     fast_planner_node = Node (
#         package="plan_manage",
#         executable="fast_planner",
#         # namespace='',
#         # name='',
#         parameters=[AstarParam_config],
#         output="screen"
#     )
#     # Create the launch description and populate
#     ld = LaunchDescription()

#     # Set environment variables
#     # ld.add_action(AstarParam_path)
#     ld.add_action(fast_planner_node)
    
#     return ld